Glider dive log

NISKINe Apr19 * SG527 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 0

MISSION 4 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 4212 R_PORT_OVSHOOT 44 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -7043 R_STBD_OVSHOOT 19 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 120 SM_CC 600.97522 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 170 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

D_BOOST 3 CALL_NDIVES 1 VBD_MIN 450 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3925 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2900 INT_PRESSURE_YINT 0.38999999

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

T_DIVE 40 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

T_MISSION 55 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 720 HEAPDBG 0 UNCOM_BLEED 50 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 350 PITCH_MIN 180 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3650 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2650 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 0 SEABIRD_T_G 0.004412075

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 350 SEABIRD_T_H 0.00063827372

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.6317541e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.254017e-06

SPEED_FACTOR 1 PITCH_GAIN 45 MAXI_24V 0.60000002 SEABIRD_C_G -9.9840622

RHO 1.0275 PITCH_TIMEOUT 16 MAXI_10V 0.80000001 SEABIRD_C_H 1.1688964

MASS 55590 PITCH_AD_RATE 150 FG_AHR_10V 0 SEABIRD_C_I -0.0016958674

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00021397673

NAV_MODE 2 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -172.98889 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 270 PRESSURE_SLOPE 0.00010843292 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3850 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.010078 ROLL_DEG 40 COMPASS_USE 4

HD_C 9.8500004e-06 C_ROLL_DIVE 2700 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.004412075

AH0_10V 350 D_TGT 120 PHONE_DEVICE 49 SEABIRD_T_H 0.00063827372

AH0_24V 0 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.6317541e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.254017e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 150 SM_CC 600.97522

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 45 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3650 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0038360001 PITCH_MIN 180 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.010078 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 9.8500004e-06 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4212

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -7043

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 720

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010843292 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -172.98889 T_DIVE 40

CAPUPLOAD 0 ID 527 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 0.38999999 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 55

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE -1 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2650 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2700 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 50

C_VBD 2900 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 350 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 55590 ROLL_DEG 40 VBD_CNV -0.245296

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3850 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 270 VBD_MAX 3925

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 2 MINV_10V 11 R_PORT_OVSHOOT 44 VBD_MIN 450

D_ABORT 170 MINV_24V 11 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 3 MISSION 4 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 2 SEABIRD_C_G -9.9840622 XPDR_INHIBIT 90

D_OFFGRID 350 N_FILEKB 8 SEABIRD_C_H 1.1688964 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0016958674

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00021397673

Pre-dive calculations and measurements:

GPS1 180419,051815,6410.8701,-2356.4028,5,0.9,20,-16.1,0.5,342.5,8,8.8 SPEED_LIMITS 0.173,0.260

_CALLS 2 TGT_NAME WP01

_XMS_NAKs 0 TGT_LATLONG 6347.000,-2439.500

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.98 MHEAD_RNG_PITCHd_Wd 203.4,56658,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -67.2 D_GRID 350

GPS2 180419,052437,6410.9238,-2356.3374,9,1.1,26,-16.1,0.0,47.5,6,9.8

Post-dive calculations and measurements:

FINISH 0.2,1.027453 _10V_AH 12.65,2.785

SM_CCo 2395,260.05,0.965,1,0,449,600.98 FG_AHR_24Vo 0.000

SM_GC 0.98,8.07,0.20,260.05,0.054,0.168,0.965,164,2701,449,-7.69,-0.48,600.98,0,0,0,0,1,0,14.37,14.21,13.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6412.50,-2401.26,180419,051905 MEM 304580

TT8_MAMPS 0.023219,0.803677 DATA_FILE_SIZE 10105,289

HUMID 34.52 CAP_FILE_SIZE 67781,0

INTERNAL_PRESSURE 8.6618 CFSIZE 2097872896,2095906816

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,2,0

XPDR_PINGS 1 CURRENT 0.233,6.39,1

SC_FREEKB 3909216 GPS 180419,061103,6411.246,-2356.207,17,0.9,44,-16.1,0.6,85.0,9,9.8

_24V_AH 12.78,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 408 125.69 nil 0 0 0.00

Roll_motor 41 168 88.24 nil 0 0 0.00

VBD_pump_during_apogee 356 1235 5625.36 nil 0 0 0.00

VBD_pump_during_surface 260 964 3206.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 2375 32 986.88

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 11 5.00

TT8 637 10 88.50

LPSleep 861 2 23.86

TT8_Active 757 10 105.17

TT8_Sampling 491 30 189.27

TT8_CF8 19 36 8.95

TT8_Kalman 0 0 0.00

Analog_circuits 1072 10 135.69

GPS_charging 0 0 0.00

Compass 426 6 36.33

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.59 -146.0 172 2693 439 463 0.0 0.0 0 191 0.00 0.00 -165.62 0.007 16390 0.000 0.000 170 2692 3497 3637 3357 0 0 0 0 0 0 14.72 13.05 14.74

193 -0.59 -146.0 170 2692 3637 3357 2.6 -2.5 17 211 11.00 0.00 0.00 0.000 2086 0.409 0.000 2453 2692 3498 3640 3357 0 0 0 0 0 0 14.12 14.52 14.47

391 -0.14 -146.0 2453 2692 3642 3357 35.7 -17.0 37 397 0.55 2.42 0.00 0.000 2692 0.275 0.081 2596 1309 3499 3642 3357 0 0 0 0 0 0 14.26 14.48 14.43

455 -0.26 -146.0 2596 1307 3642 3357 41.1 -6.4 49 460 0.00 2.62 0.00 0.000 1190 0.000 0.127 2589 2697 3499 3642 3357 0 0 0 0 0 0 14.50 14.22 14.54

647 -0.26 -146.0 2589 2697 3643 3357 56.6 -8.3 69 653 0.00 2.47 0.00 0.000 548 0.000 0.088 2590 1306 3499 3642 3357 0 0 0 0 0 0 14.81 14.50 14.82

691 -0.38 -146.0 2589 1305 3643 3356 59.9 -7.6 77 697 0.17 2.62 0.00 0.000 5286 0.113 0.128 2505 2699 3499 3642 3357 0 0 0 0 0 0 14.59 14.45 14.65

884 -0.12 -146.0 2504 2699 3642 3356 85.8 -14.1 97 891 0.38 2.47 0.00 0.000 2692 0.252 0.083 2603 1306 3499 3642 3357 0 0 0 0 0 0 14.31 14.47 14.47

897 0.08 -146.0 2603 1305 3642 3357 87.6 -14.2 99 905 0.25 2.62 0.00 0.000 3206 0.165 0.129 2677 2699 3498 3640 3357 0 0 0 0 0 0 14.47 14.45 14.62

1093 -0.31 -146.0 2677 2699 3642 3358 97.0 -4.9 119 1101 0.38 2.47 0.00 0.000 4772 0.093 0.086 2537 1304 3499 3642 3357 0 0 0 0 0 0 14.57 14.51 14.62

1128 -0.20 -146.0 2537 1305 3642 3357 99.3 -8.2 125 1135 0.22 2.62 0.00 0.000 3238 0.249 0.129 2581 2700 3499 3642 3357 0 0 0 0 0 0 14.32 14.44 14.54

1322 -0.20 -146.0 2580 2699 3641 3357 117.4 -9.1 145 1328 0.00 2.47 0.00 0.000 548 0.000 0.092 2582 1307 3499 3642 3356 0 0 0 0 0 0 14.85 14.49 14.86

1355 -0.34 -146.0 2581 1306 3641 3357 119.8 -7.3 151 1363 0.12 2.62 0.00 0.000 5286 0.138 0.129 2516 2699 3499 3642 3357 0 0 0 0 0 0 14.57 14.45 14.64

1368 end dive: TARGET_DEPTH_EXCEEDED

state 1368 begin apogee

1372 -0.11 0.0 2516 2612 3641 3357 121.0 -8.5 153 1501 0.38 0.00 120.53 1.235 10246 0.265 0.000 2607 2612 2898 2928 2868 0 0 0 0 0 0 14.35 13.52 13.02

1502 end apogee: CONTROL_FINISHED_OK

state 1502 begin climb

1504 0.59 146.0 2608 2612 2928 2869 130.2 0.0 166 1636 0.85 2.65 121.57 1.193 11012 0.224 0.092 2847 1187 2302 2332 2272 0 0 0 0 0 0 13.86 13.61 13.02

1680 1.05 229.7 2846 1187 2324 2272 122.2 6.2 196 1757 0.43 2.75 68.30 1.157 11430 0.085 0.128 2992 2596 1962 1998 1927 0 0 0 0 0 0 14.13 14.04 12.78

1935 0.64 229.7 2992 2597 1996 1918 70.7 22.3 228 1941 0.52 2.45 0.00 0.000 4484 0.299 0.158 2863 3845 1957 1996 1918 0 0 0 0 0 0 14.13 14.13 14.28

2019 0.83 242.0 2865 3845 1997 1912 59.0 9.4 244 2037 0.15 2.22 10.25 0.986 11430 0.125 0.077 2933 2584 1912 1956 1869 0 0 0 0 0 0 14.39 14.36 13.52

2224 0.64 242.0 2932 2583 1955 1863 27.5 15.9 266 2230 0.28 2.47 0.00 0.000 4740 0.256 0.099 2868 1204 1909 1955 1863 0 0 0 0 0 0 14.29 14.42 14.43

2268 1.00 286.2 2868 1204 1954 1864 22.9 8.0 274 2313 0.32 2.65 35.62 1.053 11430 0.093 0.125 2983 2606 1733 1778 1689 0 0 0 0 0 0 14.47 14.38 13.45

2370 end climb: SURFACE_DEPTH_REACHED

state 2370 begin surface coast

2381 end surface coast: CONTROL_FINISHED_OK

state 2381 begin surface

ID	527	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	0
MISSION	4	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	4212	R_PORT_OVSHOOT	44	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-7043	R_STBD_OVSHOOT	19	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	120	SM_CC	600.97522	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	170	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
D_BOOST	3	CALL_NDIVES	1	VBD_MIN	450	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3925	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2900	INT_PRESSURE_YINT	0.38999999
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
T_DIVE	40	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
T_MISSION	55	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	720	HEAPDBG	0	UNCOM_BLEED	50	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	350	PITCH_MIN	180	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3650	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2650	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	0	SEABIRD_T_G	0.004412075
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	350	SEABIRD_T_H	0.00063827372
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.6317541e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.254017e-06
SPEED_FACTOR	1	PITCH_GAIN	45	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9840622
RHO	1.0275	PITCH_TIMEOUT	16	MAXI_10V	0.80000001	SEABIRD_C_H	1.1688964
MASS	55590	PITCH_AD_RATE	150	FG_AHR_10V	0	SEABIRD_C_I	-0.0016958674
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00021397673
NAV_MODE	2	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-172.98889	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	270	PRESSURE_SLOPE	0.00010843292	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3850	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.010078	ROLL_DEG	40	COMPASS_USE	4
HD_C	9.8500004e-06	C_ROLL_DIVE	2700	ALTIM_PING_FIT	0

GPS1	180419,051815,6410.8701,-2356.4028,5,0.9,20,-16.1,0.5,342.5,8,8.8	SPEED_LIMITS	0.173,0.260
_CALLS	2	TGT_NAME	WP01
_XMS_NAKs	0	TGT_LATLONG	6347.000,-2439.500
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.98	MHEAD_RNG_PITCHd_Wd	203.4,56658,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-67.2	D_GRID	350
GPS2	180419,052437,6410.9238,-2356.3374,9,1.1,26,-16.1,0.0,47.5,6,9.8

FINISH	0.2,1.027453	_10V_AH	12.65,2.785
SM_CCo	2395,260.05,0.965,1,0,449,600.98	FG_AHR_24Vo	0.000
SM_GC	0.98,8.07,0.20,260.05,0.054,0.168,0.965,164,2701,449,-7.69,-0.48,600.98,0,0,0,0,1,0,14.37,14.21,13.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6412.50,-2401.26,180419,051905	MEM	304580
TT8_MAMPS	0.023219,0.803677	DATA_FILE_SIZE	10105,289
HUMID	34.52	CAP_FILE_SIZE	67781,0
INTERNAL_PRESSURE	8.6618	CFSIZE	2097872896,2095906816
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,2,0
XPDR_PINGS	1	CURRENT	0.233,6.39,1
SC_FREEKB	3909216	GPS	180419,061103,6411.246,-2356.207,17,0.9,44,-16.1,0.6,85.0,9,9.8
_24V_AH	12.78,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	408	125.69	nil	0	0	0.00
Roll_motor	41	168	88.24	nil	0	0	0.00
VBD_pump_during_apogee	356	1235	5625.36	nil	0	0	0.00
VBD_pump_during_surface	260	964	3206.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	2375	32	986.88
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	11	5.00
TT8	637	10	88.50
LPSleep	861	2	23.86
TT8_Active	757	10	105.17
TT8_Sampling	491	30	189.27
TT8_CF8	19	36	8.95
TT8_Kalman	0	0	0.00
Analog_circuits	1072	10	135.69
GPS_charging	0	0	0.00
Compass	426	6	36.33
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.59	-146.0	172	2693	439	463	0.0	0.0	0	191	0.00	0.00	-165.62	0.007	16390	0.000	0.000	170	2692	3497	3637	3357	0	0	0	0	0	0	14.72	13.05	14.74
193	-0.59	-146.0	170	2692	3637	3357	2.6	-2.5	17	211	11.00	0.00	0.00	0.000	2086	0.409	0.000	2453	2692	3498	3640	3357	0	0	0	0	0	0	14.12	14.52	14.47
391	-0.14	-146.0	2453	2692	3642	3357	35.7	-17.0	37	397	0.55	2.42	0.00	0.000	2692	0.275	0.081	2596	1309	3499	3642	3357	0	0	0	0	0	0	14.26	14.48	14.43
455	-0.26	-146.0	2596	1307	3642	3357	41.1	-6.4	49	460	0.00	2.62	0.00	0.000	1190	0.000	0.127	2589	2697	3499	3642	3357	0	0	0	0	0	0	14.50	14.22	14.54
647	-0.26	-146.0	2589	2697	3643	3357	56.6	-8.3	69	653	0.00	2.47	0.00	0.000	548	0.000	0.088	2590	1306	3499	3642	3357	0	0	0	0	0	0	14.81	14.50	14.82
691	-0.38	-146.0	2589	1305	3643	3356	59.9	-7.6	77	697	0.17	2.62	0.00	0.000	5286	0.113	0.128	2505	2699	3499	3642	3357	0	0	0	0	0	0	14.59	14.45	14.65
884	-0.12	-146.0	2504	2699	3642	3356	85.8	-14.1	97	891	0.38	2.47	0.00	0.000	2692	0.252	0.083	2603	1306	3499	3642	3357	0	0	0	0	0	0	14.31	14.47	14.47
897	0.08	-146.0	2603	1305	3642	3357	87.6	-14.2	99	905	0.25	2.62	0.00	0.000	3206	0.165	0.129	2677	2699	3498	3640	3357	0	0	0	0	0	0	14.47	14.45	14.62
1093	-0.31	-146.0	2677	2699	3642	3358	97.0	-4.9	119	1101	0.38	2.47	0.00	0.000	4772	0.093	0.086	2537	1304	3499	3642	3357	0	0	0	0	0	0	14.57	14.51	14.62
1128	-0.20	-146.0	2537	1305	3642	3357	99.3	-8.2	125	1135	0.22	2.62	0.00	0.000	3238	0.249	0.129	2581	2700	3499	3642	3357	0	0	0	0	0	0	14.32	14.44	14.54
1322	-0.20	-146.0	2580	2699	3641	3357	117.4	-9.1	145	1328	0.00	2.47	0.00	0.000	548	0.000	0.092	2582	1307	3499	3642	3356	0	0	0	0	0	0	14.85	14.49	14.86
1355	-0.34	-146.0	2581	1306	3641	3357	119.8	-7.3	151	1363	0.12	2.62	0.00	0.000	5286	0.138	0.129	2516	2699	3499	3642	3357	0	0	0	0	0	0	14.57	14.45	14.64
1368	end dive: TARGET_DEPTH_EXCEEDED
state	1368	begin apogee
1372	-0.11	0.0	2516	2612	3641	3357	121.0	-8.5	153	1501	0.38	0.00	120.53	1.235	10246	0.265	0.000	2607	2612	2898	2928	2868	0	0	0	0	0	0	14.35	13.52	13.02
1502	end apogee: CONTROL_FINISHED_OK
state	1502	begin climb
1504	0.59	146.0	2608	2612	2928	2869	130.2	0.0	166	1636	0.85	2.65	121.57	1.193	11012	0.224	0.092	2847	1187	2302	2332	2272	0	0	0	0	0	0	13.86	13.61	13.02
1680	1.05	229.7	2846	1187	2324	2272	122.2	6.2	196	1757	0.43	2.75	68.30	1.157	11430	0.085	0.128	2992	2596	1962	1998	1927	0	0	0	0	0	0	14.13	14.04	12.78
1935	0.64	229.7	2992	2597	1996	1918	70.7	22.3	228	1941	0.52	2.45	0.00	0.000	4484	0.299	0.158	2863	3845	1957	1996	1918	0	0	0	0	0	0	14.13	14.13	14.28
2019	0.83	242.0	2865	3845	1997	1912	59.0	9.4	244	2037	0.15	2.22	10.25	0.986	11430	0.125	0.077	2933	2584	1912	1956	1869	0	0	0	0	0	0	14.39	14.36	13.52
2224	0.64	242.0	2932	2583	1955	1863	27.5	15.9	266	2230	0.28	2.47	0.00	0.000	4740	0.256	0.099	2868	1204	1909	1955	1863	0	0	0	0	0	0	14.29	14.42	14.43
2268	1.00	286.2	2868	1204	1954	1864	22.9	8.0	274	2313	0.32	2.65	35.62	1.053	11430	0.093	0.125	2983	2606	1733	1778	1689	0	0	0	0	0	0	14.47	14.38	13.45
2370	end climb: SURFACE_DEPTH_REACHED
state	2370	begin surface coast
2381	end surface coast: CONTROL_FINISHED_OK
state	2381	begin surface